EP3160691B8 - Manipulator comprising a manipulator arm - Google Patents

Manipulator comprising a manipulator arm Download PDF

Info

Publication number
EP3160691B8
EP3160691B8 EP15733707.2A EP15733707A EP3160691B8 EP 3160691 B8 EP3160691 B8 EP 3160691B8 EP 15733707 A EP15733707 A EP 15733707A EP 3160691 B8 EP3160691 B8 EP 3160691B8
Authority
EP
European Patent Office
Prior art keywords
manipulator
arm
manipulator arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15733707.2A
Other languages
German (de)
French (fr)
Other versions
EP3160691A2 (en
EP3160691B1 (en
Inventor
Sergej Pidan
Thomas Oetken
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Broetje Automation GmbH
Original Assignee
Broetje Automation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Broetje Automation GmbH filed Critical Broetje Automation GmbH
Publication of EP3160691A2 publication Critical patent/EP3160691A2/en
Application granted granted Critical
Publication of EP3160691B1 publication Critical patent/EP3160691B1/en
Publication of EP3160691B8 publication Critical patent/EP3160691B8/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45094—Milling robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP15733707.2A 2014-06-30 2015-06-30 Manipulator comprising a manipulator arm Active EP3160691B8 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014009478.2A DE102014009478A1 (en) 2014-06-30 2014-06-30 Manipulator with a manipulator arm
PCT/EP2015/064865 WO2016001235A2 (en) 2014-06-30 2015-06-30 Manipulator comprising a manipulator arm

Publications (3)

Publication Number Publication Date
EP3160691A2 EP3160691A2 (en) 2017-05-03
EP3160691B1 EP3160691B1 (en) 2021-04-21
EP3160691B8 true EP3160691B8 (en) 2021-06-02

Family

ID=53502658

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15733707.2A Active EP3160691B8 (en) 2014-06-30 2015-06-30 Manipulator comprising a manipulator arm

Country Status (6)

Country Link
US (1) US10946527B2 (en)
EP (1) EP3160691B8 (en)
CN (1) CN107073556B (en)
DE (1) DE102014009478A1 (en)
RU (1) RU2707877C2 (en)
WO (1) WO2016001235A2 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014009478A1 (en) 2014-06-30 2015-12-31 Ba Assembly & Turnkey Systems Gmbh Manipulator with a manipulator arm
JP6765221B2 (en) * 2016-05-30 2020-10-07 Ntn株式会社 Work equipment using a parallel link mechanism
CN107825414A (en) * 2017-11-09 2018-03-23 无锡百禾工业机器人有限公司 One carries the marking machine of manipulator
CN108058167A (en) * 2017-12-27 2018-05-22 江苏集萃智能制造技术研究所有限公司 A kind of high rigidity anti-deformation fro hydraulic driving machinery arm
CN108313430A (en) * 2018-03-29 2018-07-24 合肥神马电气有限公司 A kind of automatic riveted-joint apparatus of high-tension cable drum packaging
JP7167522B2 (en) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 robot arm
EP3702281B1 (en) * 2019-03-01 2022-05-04 Airbus Operations GmbH Method and system for determining mechanical robustness of an overhead stowage bin for an aircraft and device for imparting mechanical load to an overhead stowage bin for an aircraft
FR3097457B1 (en) * 2019-06-19 2021-07-09 Safran Aircraft Engines Improved aeronautical part deburring process
DE102019218485B4 (en) * 2019-11-28 2022-03-31 Festo Se & Co. Kg work facility
CN112847418A (en) * 2021-01-05 2021-05-28 卜云生 Multidirectional fixture convenient to adjust centre gripping distance and angle
WO2024096771A1 (en) * 2022-11-04 2024-05-10 Epiroc Rock Drills Aktiebolag A drill arrangement

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3432773A1 (en) * 1984-09-06 1985-01-31 Daimler-Benz Ag, 7000 Stuttgart Tool arrangement on a multi-member arm of an industrial robot for deburring workpiece edges
DE3738619A1 (en) * 1987-11-13 1989-06-01 Daimler Benz Ag Deburring device for an industrial robot
US4885836A (en) * 1988-04-19 1989-12-12 Imta Riveting process and apparatus
US5331770A (en) * 1991-07-26 1994-07-26 Hitachi, Ltd. Method for scraping off excessive portion of workpiece
US5311770A (en) 1992-06-05 1994-05-17 Horiba Instruments Incorporated Frictionless bearing chassis dynamometer
DE19637177C2 (en) * 1996-09-12 2000-06-08 Fraunhofer Ges Forschung Device for a machine tool for the automatic machining of workpieces and assembly of connecting elements
JPH11207685A (en) * 1998-01-26 1999-08-03 Toshiba Mach Co Ltd Force control robot
US5974643A (en) * 1998-06-25 1999-11-02 General Motors Corporation Programmable vision-guided robotic turret-mounted tools
IT1313756B1 (en) 1999-09-10 2002-09-17 Porta S P A OPERATING UNIT WITH AUTOMATIC TOOL CHANGE FOR TRANSFER MACHINE AND TRANSFER MACHINE PROVIDED WITH SUCH OPERATING UNIT
FR2861325B1 (en) * 2003-10-24 2006-04-28 Dufieux Ind METHOD AND DEVICE FOR MACHINING PANELS
DE102004005859A1 (en) * 2004-02-05 2005-08-25 Claas Fertigungstechnik Gmbh Device for fixing rivet elements in components
DE102004006407A1 (en) * 2004-02-10 2005-09-01 Daimlerchrysler Ag Device for automated setting of a blind rivet
WO2006056255A2 (en) 2004-11-19 2006-06-01 Richard Bergner Verbindungstechnik Gmbh & Co. Kg Robot hand comprising a hydraulic unit having a storage space with a variable compensating volume
DE112005002828A5 (en) * 2004-12-16 2007-09-20 Richard Bergner Elektroarmaturen Gmbh & Co Kg Feeding unit and method for feeding an element to a processing unit
FR2897009B1 (en) * 2006-02-07 2008-05-09 Alema Automation Soc Par Actio METHOD FOR POSITIONING A TOOL ASSEMBLY AT THE END OF AN ARTICULATED ARM AND DEVICE FOR IMPLEMENTING IT
DE202008014886U1 (en) * 2008-11-10 2010-04-01 Kuka Systems Gmbh joining device
JP5468367B2 (en) * 2009-11-24 2014-04-09 Ｉｄｅｃ株式会社 Robot control method and robot control system
JP2012056017A (en) * 2010-09-09 2012-03-22 Honda Motor Co Ltd Apparatus and method for transporting workpiece
ES2547501T3 (en) * 2012-02-20 2015-10-06 Airbus Operations, S.L. Device for riveting aircraft fuselages
US20130273818A1 (en) 2012-04-13 2013-10-17 Hon Hai Precision Industry Co., Ltd. Manipulator and polishing mechanism thereof
RU135957U1 (en) * 2013-05-30 2013-12-27 Российская Федерация, от имени которой выступает Министерство образования и науки ROBOT MANIPULATOR
CN104608113B (en) * 2013-11-01 2018-07-17 精工爱普生株式会社 Robot, robot system and robot controller
DE102014009478A1 (en) 2014-06-30 2015-12-31 Ba Assembly & Turnkey Systems Gmbh Manipulator with a manipulator arm

Also Published As

Publication number Publication date
RU2017102667A3 (en) 2018-12-10
CN107073556A (en) 2017-08-18
RU2707877C2 (en) 2019-12-02
CN107073556B (en) 2019-09-17
EP3160691A2 (en) 2017-05-03
US10946527B2 (en) 2021-03-16
DE102014009478A1 (en) 2015-12-31
RU2017102667A (en) 2018-07-30
US20170232618A1 (en) 2017-08-17
EP3160691B1 (en) 2021-04-21
WO2016001235A3 (en) 2016-03-24
WO2016001235A2 (en) 2016-01-07

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